The order of the singles matches Friday and Sunday will be announced next week. The Bryan brothers would take on Serbs Nenad Zimonjic and Illija Bozoljac in the doubles match Saturday.
Serbia won the Davis Cup for the first time in 2010 -- a series generally marked as the point where Djokovic's career truly took off. The United States has won a record 32 Davis Cup titles, with the most recent coming in 2007.
The Serbia-United States winner advances to the Davis Cup semifinals Sept. 13-15 against either Canada or Italy.